I have an IRC5 - 1520 id arc welding robot. It has always been jerky when it stops. Example is when it goes from a MovL instruction to an ArcStart. The arcstart of course is a fine termination when the robot stops at the Arcstart it bounces. the Bounce is more violent the higher the velocity is set. it looks as if the robot thinks it has a heavier tool on it than it really has and it tries to stop too fast. How do I check the Tool Definition to see if the weight and COG is correct?
Thanks